EP2297643A1 - Electronic board and system comprising a plurality of such boards - Google Patents
Electronic board and system comprising a plurality of such boardsInfo
- Publication number
- EP2297643A1 EP2297643A1 EP09769452A EP09769452A EP2297643A1 EP 2297643 A1 EP2297643 A1 EP 2297643A1 EP 09769452 A EP09769452 A EP 09769452A EP 09769452 A EP09769452 A EP 09769452A EP 2297643 A1 EP2297643 A1 EP 2297643A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- interface means
- commands
- cards
- microcontroller
- electronic card
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004891 communication Methods 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000013256 coordination polymer Substances 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000015654 memory Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001343 mnemonic effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40032—Details regarding a bus interface enhancer
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/4026—Bus for use in automation systems
Definitions
- the invention relates to an electronic card intended in particular for automatic, robotics and industrial computing.
- the invention also relates to a system comprising a plurality of such cards connected by a communication bus and used to drive actuators, sensors or other external devices.
- Such a system can be used as an embedded control system of a robot.
- Axis controllers typically come in the form of expansion cards for personal computers or industrial buses.
- the servo-controllers are distinguished from the axis controllers in that they incorporate a power circuit for direct connection with an electric motor type actuator.
- microcontrollers integrating microprocessors dedicated to control applications, vivid and dead memories, communication interfaces and, often, analog / digital and digital / analog converters, is changing the IT sector. industrial.
- Jeffrey Kerr LLC has developed a control board based on a PIC18F2331 microcontroller and which has limited dimensions and flexibility of use. A document describing this map is available on the Internet at www.jrkerr.com/picsrvsc.pdf.
- this card is not suitable for the realization of a modular and off-center control system, particularly because of its relatively limited communication capabilities.
- the invention aims to overcome at least some of the aforementioned drawbacks of the prior art. More specifically, it aims to allow the realization of a modular control system consisting of a plurality of cards of the same type, or similar types, capable of communicating and cooperate with each other under the supervision of an external computer. According to the invention, this object is achieved by an electronic card comprising: a microcontroller; first interface means with a communication bus; and second interface means with a supervisory computer; said microcontroller being programmed to: (a) receive, through said second interface means, first commands from said supervisory computer;
- Said microcontroller can also be programmed to: (d) transmitting or receiving, according to a configuration parameter, a synchronization signal on said communication bus via said first interface means; and (e) executing at least some of said first or second commands only upon reception or transmission of said synchronization signal.
- the card may also include third interface means to enable said microcontroller to communicate with an external device.
- At least some of said first or second commands may comprise steering commands of an actuator connected to the card via said third interface means, the execution of these commands comprising the generation by said microcontroller of a signal of driving said actuator.
- An interruption mechanism may be provided to enable the real-time execution of said commands comprising control instructions.
- Said microcontroller can also be programmed to, depending on a configuration parameter:
- Said microcontroller can also be programmed to:
- Said microcontroller can be programmed to execute the services corresponding to said requests in non-real time.
- the first interface means may be adapted to enable said microcontroller to communicate with other cards of the same type through a CAN bus type.
- the second interface means may be serial type.
- the invention also relates to a system comprising: a communication bus and a plurality of electronic cards as described above connected to said communication bus via the first respective interface means; at least one of said cards being also connected to a respective supervisory computer via its second interface means.
- said cards can be identical to each other, from the point of view of both hardware and software, with the exception of one or more configuration parameters.
- one and only one of said cards can be configured to transmit a synchronization signal on said communication bus via its first interface means; and at least one of said other cards may be configured to receive said synchronization signal through its first interface means; said cards being programmable to execute at least some of said first or second commands only upon reception or transmission of said synchronization signal.
- the invention also relates to a robotic system comprising such an onboard control system.
- a robotic system comprising such an onboard control system.
- a first electronic card can be connected to an actuator while at least a second electronic card can be connected to a sensor.
- FIG. 1 the architecture of a control system according to the prior art.
- FIG. 2 the architecture of a control system according to the invention
- FIG. 3 the functional architecture of an electronic card according to one embodiment of the invention
- FIG. 1 shows a control system which is described in more detail in the above mentioned document from Jeffrey Kerr LLC.
- This system comprises an SUP supervisor and a plurality of control cards C'1, C'2 ..., each driving an actuator A1, A2 or another external device.
- the supervisor and the cards are connected by a BUS 'communication bus.
- the system operates on the basis of a master-slave protocol: the supervisor transmits instructions packets to the control cards; the cards return status information to the supervisor on a separate communication line, and handle data collisions on that line. No communication between cards is provided except, at startup, for assigning a unique address to each card.
- FIG. 2 illustrates the architecture of a control system according to the invention. This system is built around a communication bus
- the BUS bus can be a field bus, for example a CAN bus.
- One of the cards (C1) is also connected to a supervisory computer SUP via a separate communication means, such as a serial link.
- each card (or sometimes only some of them) is connected to an external device, which it controls.
- the C1 and C2 cards are connected to a actuator (electric motors A1, A2 respectively) via a power card CP1, CP2, while the card C3 is connected directly to a sensor (digital camera CA3).
- the cards C1, C2 do not integrate the power circuit CP1, CP2: this makes it possible to limit their size and their cost and to make their use more flexible. Indeed, according to a preferred embodiment of the invention, all the cards of the system are identical, both from a hardware and software point of view, with the exception of a certain number of configuration parameters.
- the supervision computer SUP transmits to the C1 board high level commands via the SER serial link. These high-level commands may be, for example, control instructions for the actuators A1, A2, or requests for sending data addressed to the camera CA3.
- the C1 card in addition to controlling one of the actuators of the system, performs a routing role: it decodes the commands received and decides whether they are intended for it or not.
- the first case she executes them; for example, it generates a control signal of the actuator A1 enabling it to reach the setpoint.
- the supervisor SUP sends a position setpoint for the actuator A2
- the card C1 recognizes that this command is not intended for him and transmits it on the bus; all the cards in the system read the transmitted command, but only the C2 card is recognized as a recipient, decodes the command and executes it.
- the conversion of a setpoint command into a control signal can be performed, for example, by means of a PID controller (proportional - integral - derived).
- the card After executing (or having tried to execute) the control command, the card transmits an acknowledgment message, which goes back to the supervisor via the card C1.
- an acknowledgment message For example, a card can communicate, by means of its acknowledgment message, that the command could not be executed because of a failure; the supervisor can react by stopping the system or by returning it to a safe position, and by setting off an alarm.
- any card can ask another card to perform a "service”: to do this, it sends a request on the bus. The answer will also reach him by. via the bus.
- the control commands must be performed in real time, unlike service requests. This is ensured, in a manner known per se, by an interruption mechanism.
- actuators must be controlled synchronously. This is the case, for example, of a walker robot, which must act in a coordinated way several joints.
- a synchronization signal generated by one of the system cards is transmitted via the BUS bus.
- the cards are programmed to start the execution of a setpoint instruction only when a synchronization signal is received (when it is transmitted, in the case of the card synchronization).
- all the cards are identical, and in particular they are programmed both to send and to receive a synchronization signal.
- a configuration parameter may be provided to enable or disable the function of generating (or receiving, respectively) this signal.
- the communication protocol implemented is not of the master-slave type: all the cards are at the same time masters and slaves.
- the system maps are adapted to interpret high level commands transmitted by the supervisor, and convert them into lower level, directly executable instruction sequences.
- the user's "programming" of the system (which has direct access only to the supervisor) is greatly facilitated.
- the system of Figure 2 finds application, for example, in the case of an autonomous robot.
- SER serial link can be wireless; some of the cards can drive actuators to allow the robot to move, by means of wheels or legs, or manipulations by means of arms or other tools; other maps can drive sensors such as cameras or sonars to detect obstacles; the supervisor can be limited to transmitting direction commands of very high level (for example: to advance a certain distance in a certain direction at a certain speed), determined on the basis of the signals received from the sensors; the synchronization card can convert these instructions of very high level into lower level instructions and distribute them between the cards associated with the different actuators; - if the computation load required is too high, the synchronization card can share it with the other cards by means of service requests.
- a card according to the invention will preferably have an extremely simple structure. It will consist essentially of a microcontroller (for example, the microcontroller dsPIC30f4011 manufactured by the Microchip company), by first means of interface with the BUS communication bus, second means of interface with the supervision computer SUP, third interface means for enabling said microcontroller to communicate with an external device (actuator, sensor, etc.) and possibly the usual "secondary" electronic functionalities (power supply, diagnosis, protection, etc.). The microcontroller executes a program, recorded on an internal or external non-volatile memory, implementing the functional architecture illustrated in FIG.
- a microcontroller for example, the microcontroller dsPIC30f4011 manufactured by the Microchip company
- FIG. 3 shows the first interface means 11 connecting the C card to a CAN bus type fieldbus, the second interface means 12 connecting it to an RS232 type serial port and the third interface means. 13, connecting it to a CP power card for controlling an actuator A.
- the interface means 11, 12 and 13 are both hardware and software.
- a capture routine is activated (block 1) and, if necessary, an interrupt is triggered.
- the captured signal is then decoded (block 2) to extract an instruction, or part of a complex instruction, which is passed to an assembler - scheduler 6.
- the presence of an incoming signal at the interface 11 activates a message capture and interrupt generation routine (block 3), as well as capturing a synchronization signal.
- the synchronization signal must not undergo the same treatment as the control messages, but be immediately sent to the GC setpoint generator, whose operation will be described later.
- the real-time processing of the synchronization signal is made possible by the interrupt routine of block 3.
- the instructions received from the first interface means 11 are decoded (block 4) and recognized. It can be in particular: service control messages or operators
- service orders consist of control codes and operators. These different elements are received in packets, not necessarily in an orderly way. In addition, different commands can be received simultaneously. Hence the need for an assembler-scheduler to reconstruct the complete orders and determine their order of execution.
- the reconstructed commands, whether received by the first or second interface means, are communicated to a server program that performs the required services (usually in non-real time).
- the set acknowledgment messages (block 7) received by the card directly interfaced with the supervisor are transmitted directly to an acknowledgment waiting block 13 in a DC setpoint distributor, active only in this card.
- the setpoint messages (block 8) received by the card are transmitted directly to a block 10 of a GC setpoint generator, where they are stored.
- This block 10 passes the value of the next instruction to be executed to a control block 22 (PID controller, for example) which drives an actuator A via the third interface means 13 and possibly a power circuit. CP.
- the actuator A drives an axis AX via a mechanical connection, generally of elastic type.
- the steering of the axis is done in closed loop: for this the control block 22 receives as input return signals SR1, SR2 indicative of the position and / or the speed of the axis (SR1), the current of control of actuator A (SR2), etc.
- the card connected directly to the supervisor can itself control an axis: it therefore receives from the supervisor
- the "unmarked" messages 9 are the responses to the service requests. They may contain, for example, the result of a calculation.
- the card which is directly connected to the supervisor receives the unobtrusive messages generated by the other cards and transmits them to the supervisor via the serial link, after having stored them temporarily in a messenger 20.
- the two octagons marked "1" represent the functional link between the messaging system 20 and the RS232 controller (12), so as not to burden the figure.
- the messenger 20 also receives the unmarked messages generated by the server program (block ES) of said card.
- the unmarked messages are transmitted on the bus via the first interface means 11 (see block 18)
- the GC setpoint generator active in all cards, is essentially a ramp generator that interpolates the position of the actuator between two position setpoint samples resulting from the trajectory planning calculations. The generation of the ramp can be started thanks to the synchronization signal (see the functional link between blocks 3 and GC).
- the reference generator GC includes a block 11 for sending and sending an acknowledgment signal, indicating whether the setpoint has been executed correctly.
- the acknowledgment messages (block 17) are in turn sent on the bus via the interface means 11.
- An interrupt mechanism allows the execution of the setpoint commands in real time, giving them priority over the execution of service requests.
- the DC setpoint distributor is active only in the case of a card directly connected to the supervisor. This component performs several functions: via the bus and the interface 12, it distributes to the other cards the instructions received from the supervisor and intended for them (blocks 12 and 17); it waits for the set acknowledgment signals that reach it, again via the bus and the interface 12, from said other cards; in the event of a failure to receive an expected acknowledgment, it informs the supervisor and stops the setpoint generators of all the other cards (via the CAN bus); and it generates (block 14) and transmits (block 15) on the bus the synchronization signal.
- the synchronization card is not the same card that receives the instructions from the supervisor and distributes them to the rest of the system.
- a "client program” 21 receives input commands from the assembler / scheduler and generates service requests that are transmitted to the other cards via the bus and the interface 11 (see block 19).
- the block diagram of Figure 3 is quite general and may be suitable for different applications.
- the card may be provided provided with a predetermined set of instructions for a specific application.
- these instructions may include actuator and sensor control, timers, error situation management functions, input and output commands, mathematical operations.
- Other instructions can be added as needed.
- an "instruction” is only a mnemonic code that triggers a routine stored in a non-volatile memory (internal or external to the microcontroller).
- Several actuator control algorithms can also be provided. This provides a system that is modular, flexible and easily customizable.
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0803046A FR2931969B1 (en) | 2008-06-03 | 2008-06-03 | ELECTRONIC CARD AND SYSTEM COMPRISING A PLURALITY OF SUCH CARDS |
PCT/FR2009/000628 WO2009156611A1 (en) | 2008-06-03 | 2009-05-29 | Electronic board and system comprising a plurality of such boards |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2297643A1 true EP2297643A1 (en) | 2011-03-23 |
Family
ID=39791039
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09769452A Withdrawn EP2297643A1 (en) | 2008-06-03 | 2009-05-29 | Electronic board and system comprising a plurality of such boards |
Country Status (4)
Country | Link |
---|---|
US (1) | US8572291B2 (en) |
EP (1) | EP2297643A1 (en) |
FR (1) | FR2931969B1 (en) |
WO (1) | WO2009156611A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE539755C2 (en) | 2012-11-27 | 2017-11-21 | Hms Ind Networks Ab | Communication module and method for reducing the latency for communication of time-critical data between an industrial network and an electrical unit |
CN103279087B (en) * | 2013-05-07 | 2015-08-12 | 杭州电子科技大学 | Full-automatic flaker control system and method |
JP7391116B2 (en) | 2019-06-28 | 2023-12-04 | アナログ・ディヴァイシス・インターナショナル・アンリミテッド・カンパニー | 1 port of low complexity Ethernet node (LEN) |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4992926A (en) * | 1988-04-11 | 1991-02-12 | Square D Company | Peer-to-peer register exchange controller for industrial programmable controllers |
CA2047641C (en) * | 1991-07-23 | 2000-01-11 | Ed Gancarcik | Basic rate interface |
EP0733976A1 (en) * | 1995-03-23 | 1996-09-25 | Canon Kabushiki Kaisha | Chip select signal generator |
US6209037B1 (en) * | 1995-05-30 | 2001-03-27 | Roy-G-Biv Corporation | Motion control systems using communication map to facilitating communication with motion control hardware |
US6003078A (en) * | 1996-11-15 | 1999-12-14 | Canon Information Systems, Inc. | Automatic service requests over the world wide web |
US6473788B1 (en) * | 1996-11-15 | 2002-10-29 | Canon Kabushiki Kaisha | Remote maintenance and servicing of a network peripheral device over the world wide web |
WO2001015385A2 (en) * | 1999-08-23 | 2001-03-01 | Pilz Gmbh & Co. | Method of configuring a safe station and a safe control system using the same |
DE10126749A1 (en) * | 2001-05-31 | 2003-01-23 | Wittenstein Ag | Data processing structure |
US7076322B2 (en) * | 2002-03-29 | 2006-07-11 | National Instruments Corporation | System and method for satisfying move constraints when performing a motion control sequence |
DE10254010B4 (en) * | 2002-11-19 | 2009-01-02 | Siemens Ag | Method for automatic configuration of a parameterization surface of machine tools or production machines |
US7103697B2 (en) * | 2003-01-08 | 2006-09-05 | Emulex Design & Manufacturing Corporation | Flow-through register |
US7865251B2 (en) * | 2003-01-28 | 2011-01-04 | Fisher-Rosemount Systems, Inc. | Method for intercontroller communications in a safety instrumented system or a process control system |
US7110919B2 (en) * | 2003-06-19 | 2006-09-19 | Siemens Building Technologies, Inc. | Field panel trending on event in a building control system |
US7228390B2 (en) * | 2003-09-12 | 2007-06-05 | Rockwell Automation Technologies, Inc. | Safety controller with hardware memory lock |
SE0401531D0 (en) | 2004-06-15 | 2004-06-15 | Hms Ind Networks Ab | Communications module interface |
CN1897594A (en) * | 2005-12-27 | 2007-01-17 | 上海大学 | USB-CAN bus adapter based on microcontroller |
US20130094271A1 (en) * | 2011-08-22 | 2013-04-18 | Mosaid Technologies Incorporated | Connection of multiple semiconductor memory devices with chip enable function |
-
2008
- 2008-06-03 FR FR0803046A patent/FR2931969B1/en active Active
-
2009
- 2009-05-29 EP EP09769452A patent/EP2297643A1/en not_active Withdrawn
- 2009-05-29 WO PCT/FR2009/000628 patent/WO2009156611A1/en active Application Filing
- 2009-05-29 US US12/996,265 patent/US8572291B2/en not_active Expired - Fee Related
Non-Patent Citations (5)
Title |
---|
ESD ET AL: "PMC-CAN/266, 66 MGH PMC-CAN Interface", 2006, pages 1 - 29, XP055065639, Retrieved from the Internet <URL:http://www.esd-electronics-usa.com/shared/handbooks/PMC-CAN266_Hardware.pdf> [retrieved on 20130604] * |
GENERAL STANDARD: "PMC-16AI64SSAO4, 12-CHANNEL 12-BIT PMC ANALOG INPUT/OUTPUT BOARD", 2005, pages 1 - 39, XP055065645, Retrieved from the Internet <URL:http://www.generalstandards.com/user-manuals/pmc12aio_man_090406.pdf> [retrieved on 20130604] * |
MOTOROLA ET AL: "MVME2300-Series VME Processor Module Installation and Use", 1 June 2001 (2001-06-01), pages 1 - 164, XP055065210, Retrieved from the Internet <URL:http://www-esd.fnal.gov/esd/catalog/main/motorola/v2300a_ih4.pdf> [retrieved on 20130522] * |
MOTOROLA ET AL: "PPCBug Firmware Package User's Manual Parts 1 & 2", 1 December 1997 (1997-12-01), pages 1 - 518, XP055065206, Retrieved from the Internet <URL:http://daq-plone.triumf.ca/HR/PowerPC/ppcbuga.pdf/view> [retrieved on 20130522] * |
See also references of WO2009156611A1 * |
Also Published As
Publication number | Publication date |
---|---|
US8572291B2 (en) | 2013-10-29 |
US20110166702A1 (en) | 2011-07-07 |
FR2931969A1 (en) | 2009-12-04 |
WO2009156611A1 (en) | 2009-12-30 |
FR2931969B1 (en) | 2010-08-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
AU2015248795B2 (en) | Humanoid robot with an autonomous life capability | |
EP2262623A1 (en) | Control-command architecture for a mobile robot using articulated limbs | |
WO2011141684A1 (en) | Method for controlling an automated work cell | |
JP4976024B2 (en) | Modular numerical controller | |
EP1274199A2 (en) | Radio controlled control device | |
EP0467754B1 (en) | Automatic loading device for a cannon | |
WO2009156611A1 (en) | Electronic board and system comprising a plurality of such boards | |
FR2816786A1 (en) | PROGRAMMABLE ADAPTATION DEVICE FOR COMMUNICATION PROTOCOLS | |
KR100877715B1 (en) | Reactive Layer Software Architecture Containing Sensing, Actuation and Real-Time Actions for Intelligent Robots | |
FR2812437A1 (en) | Vehicle onboard diagnostics communication with exterior diagnostics unit using controller area network bus and universal serial bus | |
EP2818965B1 (en) | Method for interaction between a digital object, representative of at least one real or virtual object located in a remote geographical perimeter, and a local pointing device | |
EP3284220B1 (en) | Method and device for communication in a home automation network | |
CA3158850A1 (en) | Device for generating a signal to limit the movement of an autonomous vehicle; associated control system, assembly and methods | |
FR2991976A1 (en) | Conveyor device for displacement of loads, has conveyor elements connected to computer system to provide high-level information and returning request information, where high-level information comprises guidance and request information | |
EP3881515A1 (en) | System for formally monitoring communications | |
WO2013029954A1 (en) | Onboard system for supervising a machine from a portable terminal | |
EP4248367A1 (en) | Learning device for mobile cyber-physical system | |
EP4235085A1 (en) | Secure remote operation unit for a weapon system | |
EP2991279B1 (en) | Method for bi-directional transfer of information from a home automation system, such a system and a unit for carrying out said method | |
FR2572203A1 (en) | METHOD AND APPARATUS FOR EXTENSIBLE REMOTE INTERFACE TELETRATING SYSTEMS | |
RU2004109914A (en) | METHOD OF ELECTRONIC CONTROL OF PACKAGES AND A DEVICE FOR ITS IMPLEMENTATION | |
EP1551132A1 (en) | Apparatus for simulation of vehicle information | |
FR2807175A1 (en) | METHOD AND DEVICE FOR ESTABLISHING A COMMUNICATION AND LOADING THE DATA OF PARTICIPANTS IN A BUS SYSTEM | |
EP0933899B1 (en) | Protocol for data transmission on a communication bus | |
EP2203997A1 (en) | Automation rig operating by wireless link |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20101222 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA RS |
|
DAX | Request for extension of the european patent (deleted) | ||
17Q | First examination report despatched |
Effective date: 20130620 |
|
APBK | Appeal reference recorded |
Free format text: ORIGINAL CODE: EPIDOSNREFNE |
|
APBN | Date of receipt of notice of appeal recorded |
Free format text: ORIGINAL CODE: EPIDOSNNOA2E |
|
APBR | Date of receipt of statement of grounds of appeal recorded |
Free format text: ORIGINAL CODE: EPIDOSNNOA3E |
|
APAF | Appeal reference modified |
Free format text: ORIGINAL CODE: EPIDOSCREFNE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
APBT | Appeal procedure closed |
Free format text: ORIGINAL CODE: EPIDOSNNOA9E |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20181201 |